/*
 * Copyright 2020 Tier IV, Inc. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include <behavior_velocity_planner/planner_manager.h>

void BehaviorVelocityPlannerManager::launchSceneModule(
  const std::shared_ptr<SceneModuleManagerInterface> & scene_module_manager_ptr)
{
  scene_manager_ptrs_.push_back(scene_module_manager_ptr);
}

autoware_planning_msgs::PathWithLaneId BehaviorVelocityPlannerManager::planPathVelocity(
  const std::shared_ptr<const PlannerData> & planner_data,
  const autoware_planning_msgs::PathWithLaneId & input_path_msg)
{
  autoware_planning_msgs::PathWithLaneId output_path_msg = input_path_msg;
  for (const auto & scene_manager_ptr : scene_manager_ptrs_) {
    scene_manager_ptr->updateSceneModuleInstances(planner_data, input_path_msg);
    scene_manager_ptr->modifyPathVelocity(&output_path_msg);
  }

  return output_path_msg;
}
